Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L2-gain performance analysis

被引：9

作者：

Andaluz, Victor H. ^{[1
]}

Roberti, Flavio ^{[2
,3
]}

Salinas, Lucio ^{[2
,3
]}

Toibero, Juan M. ^{[2
,3
]}

Carelli, Ricardo ^{[2
,3
]}

机构：

[1] Univ Tecn Ambato, Ambato, Ecuador

[2] Univ Nacl San Juan, CONICET, Inst Automat, San Juan, Argentina

[3] Consejo Nacl Invest Cient & Tecn, RA-1033 Buenos Aires, DF, Argentina

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2015年 / 66卷

关键词：

Mobile manipulator; Passivity based control; Non-linear control; Visual servoing; TARGET TRACKING;

D O I：

10.1016/j.robot.2014.12.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L-2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L-2-gain performance of the dynamic visual feedback system. (C) 2015 Elsevier B.V. All rights reserved.

引用

页码：64 / 74

页数：11